In this exercise, we will load some ROS parameters to initialize important variables within our program.
Locate Exercise Source File¶
Go to the main application source file located in
In the main program, locate the function call to
Go to the source file for that function located in the
plan_and_run/src/tasks/load_parameters.cpp. Alternatively, in Eclipse you can click in any part of the function and press “F2” to bring up that file.
Comment out the first line containing the
ROS_ERROR_STREAM ...entry so that the function does not quit immediately.
Find comment block that starts with
/* Fill Code:and complete as described.
Replace every instance of
[ COMPLETE HERE ]accordingly.
Build Code and Run¶
cdinto your catkin workspace and run:
catkin build --cmake-args -G 'CodeBlocks - Unix Makefiles'
Then run the application launch file:
roslaunch plan_and_run demo_setup.launch
roslaunch plan_and_run demo_run.launch